/*------------------------------------------------------------------------------------------*\
   This file contains material supporting chapter 10 of the cookbook:
   Computer Vision Programming using the OpenCV Library.
   by Robert Laganiere, Packt Publishing, 2011.

   This program is free software; permission is hereby granted to use, copy, modify,
   and distribute this source code, or portions thereof, for any purpose, without fee,
   subject to the restriction that the copyright notice may not be removed
   or altered from any source or altered source distribution.
   The software is released on an as-is basis and without any warranties of any kind.
   In particular, the software is not guaranteed to be fault-tolerant or free from failure.
   The author disclaims all warranties with regard to this software, any use,
   and any consequent failure, is purely the responsibility of the user.
 

   Copyright (C) 2010-2011 Robert Laganiere, www.laganiere.name
\*------------------------------------------------------------------------------------------*/

#include <iostream>
#include <opencv2/core.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/video.hpp>

#include "featuretracker.h"

int main()
{
    // Create video procesor instance
    VideoProcessor processor;

    // Create feature tracker instance
    FeatureTracker tracker;

    // Open video file
    processor.setInput("../images/bike.avi");

    // set frame processor
    processor.setFrameProcessor(&tracker);

    // Declare a window to display the video
    processor.displayOutput("Tracked Features");

    // Play the video at the original frame rate
    processor.setDelay(1000. / processor.getFrameRate());

    // Start the process
    processor.run();

    cv::waitKey();
    /*
            // Open the video file
cv::VideoCapture capture("../images/bike.avi");
    // check if video successfully opened
    if (!capture.isOpened())
            return 1;

    // Get the frame rate
    double rate= capture.get(cv::CAP_PROP_FPS);

    bool stop(false);
    cv::Mat frame; // current video frame
    cv::namedWindow("Extracted Frame");

    // Delay between each frame
    // corresponds to video frame rate
    int delay= 1000/rate/2;



    cv::Mat gray,gray_prev;
    std::vector<cv::Point2f> points[2];
    std::vector<cv::Point2f> features;
    const int MAX_COUNT = 500;
    cv::Size winSize(10,10);
    cv::TermCriteria termcrit(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS,20,0.03);
    bool firstframe =true;



    // for all frames in video
    while (!stop) {

            // read next frame if any
            if (!capture.read(frame))
                    break;


            cv::cvtColor(frame, gray, CV_BGR2GRAY);
            if(firstframe)
            {
                    cv::goodFeaturesToTrack(gray, features, MAX_COUNT, 0.01, 10, cv::Mat(), 3, 0,
0.04); cv::cornerSubPix(gray, features, winSize, cv::Size(-1,-1), termcrit);
                    points[0].insert(points[0].end(),features.begin(),features.end());
                    firstframe=false;
            }
            

            {
                    std::vector<uchar> status;
        std::vector<float> err;
                    if(gray_prev.empty())
            gray.copyTo(gray_prev);
        cv::calcOpticalFlowPyrLK(gray_prev, gray, points[0], points[1], status, err, winSize,3,
termcrit, 0); size_t i, k; for( i = k = 0; i < points[1].size(); i++ )
        {
            if( !status[i] )
                continue;
                            if
((abs(points[0][i].x-points[1][i].x)+(abs(points[0][i].y-points[1][i].y))<2)) continue;

            cv::line( frame, points[0][i],points[1][i], cv::Scalar(0,255,0));
            points[1][k++] = points[1][i];
            cv::circle( frame, points[1][i], 3, cv::Scalar(0,255,0), -1, 8);
        }
        points[1].resize(k);
            }
            if(points[1].size()<=10)
                    firstframe=true;
            std::swap(points[1], points[0]);
    cv::swap(gray_prev, gray);


            cv::imshow("Extracted Frame",frame);

            // introduce a delay
            // or press key to stop
            if (cv::waitKey(delay)>=0)
                            stop= true;
    }

    // Close the video file
    capture.release();

    cv::waitKey();

    

    // Create instance
    VideoProcessor processor;
    // Open video file
    processor.setInput("../images/bike.avi");
    // Output filename
//	processor.setOutput("bikeOut",".jpg");

    // Declare a window to display the video
    processor.displayInput("Current Frame");
    processor.displayOutput("Output Frame");

    // Play the video at the original frame rate
    processor.setDelay(1000./processor.getFrameRate());

    // Set the frame processor callback function
    processor.setFrameProcessor(draw);

    // Start the process
    processor.run();

    cv::waitKey(5000);*/
}